

for i=1:DiscreteNum
    x=DiscreteX(i);
    y=DiscreteY(i);
    phi=DiscreteYaw(i);
    [FLx ,FLy ,FRx, FRy, RLx, RLy, RRx, RRy]= CarFrame(x,y,phi);
    PlotFrame(FLx ,FLy ,FRx, FRy, RLx, RLy, RRx, RRy);
end